[ros-users] Gazebo real time controller

[Stuart Glaser]

Hi Andreas,

Let's make sure that the tf frames are being published.  Could you
post a couple messages from /joint_states and a couple from /tf?

-Stu

On Sat, Oct 23, 2010 at 2:45 AM, Andreas Vogt <andreas.vogt at dfki.de> wrote:
> Hi Stuart
>
> I just want to use rviz as a visualization tool.  My real robot
> driver publish the information ( speed, angle) about the joints over a
> topic. The model should receive this information and behave like the
> real robot.
> I asked this because I wrote the real time controller for gazebo and
> now I want to avoid that I have to write something new for rviz which
> does more or less  the same as the controller.
>
> Andreas
>
> Am 22.10.2010 um 20:42 schrieb Stuart Glaser <sglaser at willowgarage.com>:
>
>> Hi Andreas,
>>
>> The ill-named controller_manager.launch does not actually launch the
>> controller manager.  Instead, it launches other nodes that work with
>> the controller manager (publishing diagnostics and tf, I believe).
>> The controller manager is launched inside the Gazebo process as a
>> Gazebo plugin.
>>
>> At Willow, we either launch the controller manager inside Gazebo or in
>> the process controlling a PR2 (pr2_etherCAT).  The controllers operate
>> on joint states and commands, which are provided by the robot or by
>> Gazebo.  Launching the controller manager by itself means that the
>> controllers have nothing to operate on, which doesn't make a great
>> deal of sense.
>>
>> How are you trying to use only RViz as an environment?  In your
>> planned setup, where can you read joint positions from and where can
>> you send joint efforts?
>>
>> -Stu
>>
>> 2010/10/22 Andreas Vogt <andreas.vogt at dfki.de>:
>>>
>>> Hi,
>>>
>>>
>>> How can I use my real time controller without Gazebo? I want only use
>>> RVIZ as an environment.
>>> With Gazebo everything works fine but when I try to start the
>>> controller
>>> without Gazebo nothing happens.
>>>
>>> <launch>
>>> <include file="$(find pr2_controller_manager)/
>>> controller_manager.launch"/>
>>> <param name="robot_description" textfile="$(find
>>> robot_simulation)/robot.xml" />
>>> <rosparam file="$(find robot_simulation)/robot_simulation.yaml"
>>> command="load" />
>>> <node pkg="pr2_controller_manager" type="spawner"
>>> args="robot_simulation_ns" name="robot_simulation_spawner" />
>>> </launch>
>>>
>>> Thanks
>>>
>>> --
>>> Andreas Vogt
>>> Logistics and Production Robotics
>>>
>>> Standort Bremen:
>>> DFKI GmbH
>>> Robotics Innovation Center
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>>> 28359 Bremen, Germany
>>>
>>> Phone: +49 (0)421 178 45-6617
>>> Fax:   +49 (0)421 178 45-4150
>>> E-Mail: andreas.vogt at dfki.de
>>>
>>> Weitere Informationen: http://www.dfki.de/robotik
>>> ---
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>>
>>
>>
>> --
>> Stuart Glaser
>> sglaser -at- willowgarage -dot- com
>> www.willowgarage.com
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-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com